Obstacle avoidance method of three-dimensional obstacle spherical cap
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摘要
Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.
Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.
Focusing on obstacle avoidance in three-dimensional space for unmanned aerial vehicle(UAV), the direct obstacle avoidance method in dynamic space based on three-dimensional velocity obstacle spherical cap is proposed, which quantifies the influence of threatening obstacles through velocity obstacle spherical cap parameters. In addition, the obstacle avoidance schemes of any point on the critical curve during the multi-obstacles avoidance are given. Through prediction, the insertion point for the obstacle avoidance can be obtained and the flight path can be replanned. Taking the Pythagorean Hodograph(PH) curve trajectory re-planning as an example, the three-dimensional direct obstacle avoidance method in dynamic space is tested. Simulation results show that the proposed method can realize the online obstacle avoidance trajectory re-planning, which increases the flexibility of obstacle avoidance greatly.
引文
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[15]ANUSHA M,RADHAKENT P.Reactive collision avoidance using nonlinear geometric and differential geometric guidance.Journal of Guidance,Control,and Dynamics,2011,34(1):303-310.
[16]CHEN H D,CHANG K C,CRAIG S A.UAV path planning with tangent-plus-Lyapunov vector field guidance and obstacle avoidance.IEEE Trans.on Aerospace and Electronic Systems,2013,49(2):840-856.
[17]MACHADO P,BOUSSON K.Automatic collision avoidance system based on geometric approach applied to multiple aircraft.Proc.of the International Conference for Research in Air Transportation,2014:272418676.
[18]HAN S C,BANZ H,YOO C S.Proportional navigation-based collision avoidance.International Journal of Control,Automation,and Systems,2009,7(4):553-565.
[19]BELKHOUCHE F,BENDJILALI B.Reactive path planning for 3-d autonomous vehicles.IEEE Trans.on Control Systems Technology,2012,20(1):249-256.
[20]WATANABLE Y,CALISE A,JOHNSON E N.Minimum effort guidance for vision-based collision avoidance.Proc.of the AIAA Atmospheric Flight Mechanics Conference and Exhibit,2006:589-601.
[21]YAZDI I J,KAMPEN E J V,COEN C D V,et al.Threedimensional velocity obstacle method for UAV uncoordinated avoidance maneuvers.Proc.of the AIAA Guidance,Navigation,and Control Conference,2016:AIAA 2016-1629.
[22]YAZDI I J,KAMPEN E J V,COEN C D V,et al.Three-dimensional velocity obstacle method for uncoordinated avoidance maneuvers of unmanned aerial vehicles.Journal of Guidance,Control,and Dynamics,2016,39(10):2312-2323.
[23]ZHANG Y,YANG X X,ZHOU W W,et al.Study of three-dimensional on-line path planning for UAV based on Pythagorean hodograph curve.International Journal on Smart Sensing and Intelligent System,2015,8(4):1641-1666.
[24]LORENZ S,WALTER F.Collision-avoidance framework for small fixed-wing unmanned aerial vehicles.Journal of Guidance,Control,and Dynamics,2014,37(4):1323-1328.
[2]PEHLIVANOGLU Y V.A new vibrational genetic algorithm enhanced with a Voronoi diagram for path planning of autonomous UAV.Aerospace Science&Technology,2012,16(1):47-55.
[3]ZHANG Y,GONG D W,ZHANG J H.Robot path planning in uncertain environment using multi-objective particle swarm optimization.Neurocomputing,2013,103(2):172-185.
[4]GENG N,GONG D W,ZHANG Y.PSO-based robot path planning for multi-survivor rescue in limited survival time.Mathematical Problems in Engineering,2014(2),DOI:10.1155/2014/187370.
[5]GENG N,GONG D,ZHANG Y.Robot path planning in an environment with many terrains based on interval multi-objective PSO.International Journal of Robotics and Automation,2016,31(2):100-110.
[6]YAO P,WANG H L,SU Z K.Real-time path planning of unmanned aerial vehicle for target tracking and obstacle avoidance in complex dynamic environment.Aerospace Science and Technology,2015,47:269-279.
[7]CHEN Y,LUO G,MEI Y,et al.UAV path planning using artificial potential field method updated by optimal control theory.International Journal of Systems Science,2016,47(6):1407-1420.
[8]WILKIE D,BERG J V D,MANOCHA D.Generalized velocity obstacles.Proc.of the IEEE/RSJ International Conference on Intelligent Robots and Systems,2009:5573-5578.
[9]ALEJO D,COBANO J A,TRUJILLO M A,et al.The speed assignment problem for conflict resolution in aerial robotics.Proc.of the IEEE International Conference on Robotics and Automation,2012:3919-3424.
[10]LAUDERDALE T.Probabilistic conflict detection for robust detection and resolution.Proc.of the AIAA Aviation Technology,Integration,and Operations,2012:AIAA 2012-5643.
[11]JENIE Y I,VAN KAMPEN E J,DE VISSER C C,et al.Selective velocity obstacle method for deconflicting maneuvers applied to unmanned aerial vehicles.Journal of Guidance,Control,and Dynamics,2015,38(6):1140-1145.
[12]SHIN H S,WHITE B A,TSOURDOS A.UAV conflict detection and resolution for static and dynamic obstacles.Proc.of AIAA Guidance,Navigation,and Control Conference,2008:AIAA 2008-6521.
[13]SHIN H S,TSOURDOS A,WHITE B A.UAS conflict detection and resolution using differential geometry concepts.sense and avoid in UAS:research and applications.Hoboken:Wiley,2012.
[14]WHITE B A,SHIN H S,TSOURDOS A.UAV obstacle avoidance using differential geometry concepts.Proc.of IFACWorld Congress,2011:6325-6330.
[15]ANUSHA M,RADHAKENT P.Reactive collision avoidance using nonlinear geometric and differential geometric guidance.Journal of Guidance,Control,and Dynamics,2011,34(1):303-310.
[16]CHEN H D,CHANG K C,CRAIG S A.UAV path planning with tangent-plus-Lyapunov vector field guidance and obstacle avoidance.IEEE Trans.on Aerospace and Electronic Systems,2013,49(2):840-856.
[17]MACHADO P,BOUSSON K.Automatic collision avoidance system based on geometric approach applied to multiple aircraft.Proc.of the International Conference for Research in Air Transportation,2014:272418676.
[18]HAN S C,BANZ H,YOO C S.Proportional navigation-based collision avoidance.International Journal of Control,Automation,and Systems,2009,7(4):553-565.
[19]BELKHOUCHE F,BENDJILALI B.Reactive path planning for 3-d autonomous vehicles.IEEE Trans.on Control Systems Technology,2012,20(1):249-256.
[20]WATANABLE Y,CALISE A,JOHNSON E N.Minimum effort guidance for vision-based collision avoidance.Proc.of the AIAA Atmospheric Flight Mechanics Conference and Exhibit,2006:589-601.
[21]YAZDI I J,KAMPEN E J V,COEN C D V,et al.Threedimensional velocity obstacle method for UAV uncoordinated avoidance maneuvers.Proc.of the AIAA Guidance,Navigation,and Control Conference,2016:AIAA 2016-1629.
[22]YAZDI I J,KAMPEN E J V,COEN C D V,et al.Three-dimensional velocity obstacle method for uncoordinated avoidance maneuvers of unmanned aerial vehicles.Journal of Guidance,Control,and Dynamics,2016,39(10):2312-2323.
[23]ZHANG Y,YANG X X,ZHOU W W,et al.Study of three-dimensional on-line path planning for UAV based on Pythagorean hodograph curve.International Journal on Smart Sensing and Intelligent System,2015,8(4):1641-1666.
[24]LORENZ S,WALTER F.Collision-avoidance framework for small fixed-wing unmanned aerial vehicles.Journal of Guidance,Control,and Dynamics,2014,37(4):1323-1328.